#!/bin/bash
# launch_server.sh [gpu] [port] [model_path] [embodiment_tag] [data_config]
# Detached GR00T-N1.5 inference server for actaug rollouts.
#   finetuned (default): new_embodiment + single_panda_gripper
#   BASE nvidia/GR00T-N1.5-3B: pass the HF snapshot dir + oxe_droid oxe_droid
set -u
GPU=${1:-0}
PORT=${2:-8801}
MODEL=${3:-/lp-dev/jonghoon/myGR00T_outputs/pnpcountertocab_all502_gbs64_wandb_60k_save5k_20260427_193901/checkpoint-60000}
EMB=${4:-new_embodiment}
CFG=${5:-single_panda_gripper}
MG=/home/nvidia/jonghoon/___neurips_pose6daug___/myGR00T
PY=/data/nvidia/gripper_augmentator/conda-envs/mygr00t/bin/python
LOG=$(dirname "$0")/logs/server_gpu${GPU}_p${PORT}.log
mkdir -p "$(dirname "$LOG")"

PYTHONPATH=$MG HF_HOME=/lp-dev/jonghoon/.cache/huggingface \
  HF_HUB_OFFLINE=1 TRANSFORMERS_OFFLINE=1 CUDA_VISIBLE_DEVICES=$GPU \
  OMP_NUM_THREADS=4 MKL_NUM_THREADS=4 \
  nohup $PY $MG/scripts/inference_service.py --server \
    --model_path "$MODEL" --embodiment_tag "$EMB" \
    --data_config "$CFG" --port "$PORT" --denoising_steps 4 \
    > "$LOG" 2>&1 &
echo "server pid $! gpu=$GPU port=$PORT emb=$EMB cfg=$CFG log=$LOG"